使用rattler-build进行构建测试

# Conflicts:
#	recipes/ros-humble-unilabos-msgs/recipe.yaml

.github/workflows/multi-platform-build.yml

@@ -2,16 +2,21 @@ name: Multi-Platform Conda Build
 
 on:
   push:
-    branches: [ main, dev ]
+    branches: [main, dev]
-    tags: [ 'v*' ]
+    tags: ['v*']
   pull_request:
-    branches: [ main, dev ]
+    branches: [main, dev]
   workflow_dispatch:
     inputs:
       platforms:
         description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
         required: false
         default: 'osx-arm64'
+      upload_to_anaconda:
+        description: '是否上传到Anaconda.org'
+        required: false
+        default: false
+        type: boolean
 
 jobs:
   build:
@@ -60,7 +65,7 @@ jobs:
         if: steps.should_build.outputs.should_build == 'true'
         uses: conda-incubator/setup-miniconda@v3
         with:
-        miniconda-version: "latest"
+          miniconda-version: 'latest'
           channels: conda-forge,robostack-staging,defaults
           channel-priority: strict
           activate-environment: build-env
@@ -68,16 +73,16 @@ jobs:
           auto-update-conda: false
           show-channel-urls: true
 
-    - name: Install boa and build tools
+      - name: Install rattler-build and anaconda-client
         if: steps.should_build.outputs.should_build == 'true'
         run: |
-        conda install -c conda-forge boa conda-build
+          conda install -c conda-forge rattler-build anaconda-client
 
       - name: Show environment info
         if: steps.should_build.outputs.should_build == 'true'
         run: |
           conda info
-        conda list | grep -E "(boa|conda-build)"
+          conda list | grep -E "(rattler-build|anaconda-client)"
           echo "Platform: ${{ matrix.platform }}"
           echo "OS: ${{ matrix.os }}"
 
@@ -85,26 +90,26 @@ jobs:
         if: steps.should_build.outputs.should_build == 'true'
         run: |
           if [[ "${{ matrix.platform }}" == "osx-arm64" ]]; then
-          boa build -m ./recipes/conda_build_config.yaml -m ./recipes/macos_sdk_config.yaml ./recipes/ros-humble-unilabos-msgs
+            rattler-build build -m ./recipes/conda_build_config.yaml -m ./recipes/macos_sdk_config.yaml ./recipes/msgs
           else
-          boa build -m ./recipes/conda_build_config.yaml ./recipes/ros-humble-unilabos-msgs
+            rattler-build build -m ./recipes/conda_build_config.yaml ./recipes/msgs
           fi
 
       - name: List built packages
         if: steps.should_build.outputs.should_build == 'true'
         run: |
-        echo "Built packages in conda-bld:"
+          echo "Built packages in output directory:"
-        find $CONDA_PREFIX/conda-bld -name "*.tar.bz2" | head -10
+          find ./recipes/msgs/output -name "*.conda" | head -10
-        ls -la $CONDA_PREFIX/conda-bld/${{ matrix.platform }}/ || echo "${{ matrix.platform }} directory not found"
+          ls -la ./recipes/msgs/output/${{ matrix.platform }}/ || echo "${{ matrix.platform }} directory not found"
-        ls -la $CONDA_PREFIX/conda-bld/noarch/ || echo "noarch directory not found"
+          ls -la ./recipes/msgs/output/noarch/ || echo "noarch directory not found"
-        echo "CONDA_PREFIX: $CONDA_PREFIX"
+          echo "Output directory structure:"
-        echo "Full path would be: $CONDA_PREFIX/conda-bld/**/*.tar.bz2"
+          find ./recipes/msgs/output -type f -name "*.conda"
 
       - name: Prepare artifacts for upload
         if: steps.should_build.outputs.should_build == 'true'
         run: |
           mkdir -p ${{ runner.temp }}/conda-packages
-        find $CONDA_PREFIX/conda-bld -name "*.tar.bz2" -exec cp {} ${{ runner.temp }}/conda-packages/ \;
+          find ./recipes/msgs/output -name "*.conda" -exec cp {} ${{ runner.temp }}/conda-packages/ \;
           echo "Copied files to temp directory:"
           ls -la ${{ runner.temp }}/conda-packages/
 
@@ -117,11 +122,29 @@ jobs:
           if-no-files-found: warn
           retention-days: 30
 
+      - name: Login to Anaconda
+        if: steps.should_build.outputs.should_build == 'true' && (github.event.inputs.upload_to_anaconda == 'true' || startsWith(github.ref, 'refs/tags/'))
+        run: |
+          anaconda login --username ${{ secrets.ANACONDA_USERNAME }} --password ${{ secrets.ANACONDA_PASSWORD }}
+
+      - name: Upload to Anaconda.org
+        if: steps.should_build.outputs.should_build == 'true' && (github.event.inputs.upload_to_anaconda == 'true' || startsWith(github.ref, 'refs/tags/'))
+        run: |
+          for package in $(find ./recipes/msgs/output -name "*.conda"); do
+            echo "Uploading $package to Anaconda.org..."
+            anaconda upload --user ${{ secrets.ANACONDA_ORG }} --force "$package"
+          done
+
+      - name: Logout from Anaconda
+        if: always() && steps.should_build.outputs.should_build == 'true' && (github.event.inputs.upload_to_anaconda == 'true' || startsWith(github.ref, 'refs/tags/'))
+        run: |
+          anaconda logout || true
+
       - name: Create release assets (on tags)
         if: steps.should_build.outputs.should_build == 'true' && startsWith(github.ref, 'refs/tags/')
         run: |
           mkdir -p release-assets
-        find $CONDA_PREFIX/conda-bld -name "*.tar.bz2" -exec cp {} release-assets/ \;
+          find ./recipes/msgs/output -name "*.conda" -exec cp {} release-assets/ \;
 
       - name: Upload to release
         if: steps.should_build.outputs.should_build == 'true' && startsWith(github.ref, 'refs/tags/')

recipes/msgs/bld_ament_cmake.bat

@@ -34,8 +34,32 @@ cmake ^
     -DCMAKE_OBJECT_PATH_MAX=255 ^
     -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^
     --compile-no-warning-as-error ^
-    %SRC_DIR%\%PKG_NAME%\src\work
+    %SRC_DIR%\src
 if errorlevel 1 exit 1
 
+set "infile=%SRC_DIR%\build\cmake_install.cmake"
+set "tmpfile=%infile%.tmp"
+
+rem 模式串
+set "pattern=echo %PYTHON%"
+
+> "%tmpfile%" (
+    for /f "usebackq delims=" %%L in ("%infile%") do (
+        set "line=%%L"
+        rem 把 pattern 从 line 里“删除”，看看结果是否变化
+        set "test=!line:%pattern%=!"
+        if "!test!" neq "!line!" (
+            rem 含有 echo %PYTHON%，对整行做 \→\\ 全局替换
+            echo !line:\=\\!
+        ) else (
+            rem 不含，原样输出
+            echo !line!
+        )
+    )
+)
+
+rem 用 tmp 覆盖原文件
+move /Y "%tmpfile%" "%infile%" > nul
+
 cmake --build . --config Release --target install
 if errorlevel 1 exit 1

recipes/msgs/build_ament_cmake.sh

@@ -66,6 +66,6 @@ cmake \
     -DBUILD_TESTING=OFF \
     -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
     --compile-no-warning-as-error \
-    $SRC_DIR/$PKG_NAME/src/work
+    $SRC_DIR/src
 
 cmake --build . --config Release --target install

recipes/msgs/recipe.yaml

@@ -0,0 +1,76 @@
+package:
+  name: ros-humble-unilabos-msgs
+  version: 0.10.1
+source:
+  path: ../../unilabos_msgs
+  target_directory: src
+
+build:
+  script:
+    - if: win
+      then:
+        - copy %RECIPE_DIR%\bld_ament_cmake.bat %SRC_DIR%
+        - call %SRC_DIR%\bld_ament_cmake.bat
+    - if: unix
+      then:
+        - cp $RECIPE_DIR/build_ament_cmake.sh $SRC_DIR
+        - bash $SRC_DIR/build_ament_cmake.sh
+
+about:
+  repository: https://github.com/dptech-corp/Uni-Lab-OS
+  license: BSD-3-Clause
+  description: "ros-humble-unilabos-msgs is a package that provides message definitions for Uni-Lab-OS."
+
+requirements:
+  build:
+    - if: build_platform != target_platform
+      then:
+        - pkg-config
+        - python =3.11.11
+        - cross-python_${{ target_platform }}
+        - numpy
+    - ${{ compiler('cxx') }}
+    - ${{ compiler('c') }}
+    - if: linux and x86_64
+      then:
+        - sysroot_linux-64 2.17
+    - ninja
+    - setuptools
+    - cython
+    - cmake
+    - if: unix
+      then:
+        - make
+        - coreutils
+    - if: osx
+      then:
+        - tapi
+    - if: win
+      then:
+        - vs2022_win-64
+  host:
+    - numpy
+    - pip
+    - if: build_platform == target_platform
+      then:
+        - pkg-config
+    - robostack-staging::ros-humble-action-msgs
+    - robostack-staging::ros-humble-ament-cmake
+    - robostack-staging::ros-humble-ament-lint-auto
+    - robostack-staging::ros-humble-ament-lint-common
+    - robostack-staging::ros-humble-ros-environment
+    - robostack-staging::ros-humble-ros-workspace
+    - robostack-staging::ros-humble-rosidl-default-generators
+    - robostack-staging::ros-humble-std-msgs
+    - robostack-staging::ros-humble-geometry-msgs
+    - robostack-staging::ros2-distro-mutex=0.6
+  run:
+    - robostack-staging::ros-humble-action-msgs
+    - robostack-staging::ros-humble-ros-workspace
+    - robostack-staging::ros-humble-rosidl-default-runtime
+    - robostack-staging::ros-humble-std-msgs
+    - robostack-staging::ros-humble-geometry-msgs
+    - robostack-staging::ros2-distro-mutex=0.6
+    - if: osx and x86_64
+      then:
+        - __osx >= {{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}

recipes/ros-humble-unilabos-msgs/recipe.yaml

@@ -1,61 +0,0 @@
-package:
-  name: ros-humble-unilabos-msgs
-  version: 0.10.1
-source:
-  path: ../../unilabos_msgs
-  folder: ros-humble-unilabos-msgs/src/work
-
-build:
-  script:
-    sel(win): bld_ament_cmake.bat
-    sel(unix): build_ament_cmake.sh
-  number: 5
-about:
-  home: https://www.ros.org/
-  license: BSD-3-Clause
-  summary: |
-    Robot Operating System
-
-extra:
-  recipe-maintainers:
-    - ros-forge
-
-requirements:
-  build:
-    - "{{ compiler('cxx') }}"
-    - "{{ compiler('c') }}"
-    - sel(linux64): sysroot_linux-64 2.17
-    - ninja
-    - setuptools
-    - sel(unix): make
-    - sel(unix): coreutils
-    - sel(osx): tapi
-    - sel(build_platform != target_platform): pkg-config
-    - cmake
-    - cython
-    - sel(win): vs2022_win-64
-    - sel(build_platform != target_platform): python
-    - sel(build_platform != target_platform): cross-python_{{ target_platform }}
-    - sel(build_platform != target_platform): numpy
-  host:
-    - numpy
-    - pip
-    - sel(build_platform == target_platform): pkg-config
-    - robostack-staging::ros-humble-action-msgs
-    - robostack-staging::ros-humble-ament-cmake
-    - robostack-staging::ros-humble-ament-lint-auto
-    - robostack-staging::ros-humble-ament-lint-common
-    - robostack-staging::ros-humble-ros-environment
-    - robostack-staging::ros-humble-ros-workspace
-    - robostack-staging::ros-humble-rosidl-default-generators
-    - robostack-staging::ros-humble-std-msgs
-    - robostack-staging::ros-humble-geometry-msgs
-    - robostack-staging::ros2-distro-mutex=0.6.*
-  run:
-    - robostack-staging::ros-humble-action-msgs
-    - robostack-staging::ros-humble-ros-workspace
-    - robostack-staging::ros-humble-rosidl-default-runtime
-    - robostack-staging::ros-humble-std-msgs
-    - robostack-staging::ros-humble-geometry-msgs
-    - robostack-staging::ros2-distro-mutex=0.6.*
-    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}

unilabos/app/main.py

@@ -43,10 +43,11 @@ def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
     for i, arg in enumerate(sys.argv):
         for option_string in option_strings:
             if arg.startswith(option_string):
-                new_arg = arg[:2] + arg[2:len(option_string)].replace("-", "_") + arg[len(option_string):]
+                new_arg = arg[:2] + arg[2 : len(option_string)].replace("-", "_") + arg[len(option_string) :]
                 sys.argv[i] = new_arg
                 break
 
+
 def parse_args():
     """解析命令行参数"""
     parser = argparse.ArgumentParser(description="Start Uni-Lab Edge server.")
@@ -128,6 +129,13 @@ def parse_args():
         default="",
         help="实验室唯一ID，也可通过环境变量 UNILABOS.MQCONFIG.LABID 设置或传入--config设置",
     )
+    parser.add_argument(
+        "--loglevel",
+        type=str,
+        choices=["DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"],
+        default="INFO",
+        help="设置日志级别 (DEBUG, INFO, WARNING, ERROR, CRITICAL)，默认为 INFO",
+    )
     return parser
 
 
@@ -140,29 +148,40 @@ def main():
 
     # 加载配置文件，优先加载config，然后从env读取
     config_path = args_dict.get("config")
+    if os.getcwd().endswith("unilabos_data"):
+        working_dir = os.path.abspath(os.getcwd())
+    else:
         working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
-    if not config_path and (not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))):
+    if args_dict.get("working_dir"):
-        print_status(f"当前未指定config路径，非第一次使用请通过 --config 传入 local_config.py 文件路径", "info")
+        working_dir = args_dict.get("working_dir")
-        print_status(f"您是否为第一次使用？并将当前文件路径 {working_dir} 作为工作目录？ (Y/n)", "info")
+        if config_path and not os.path.exists(config_path):
+            config_path = os.path.join(working_dir, "local_config.py")
+            if not os.path.exists(config_path):
+                print_status(
+                    f"当前工作目录 {working_dir} 未找到local_config.py，请通过 --config 传入 local_config.py 文件路径",
+                    "error",
+                )
+                os._exit(1)
+    elif os.path.exists(working_dir) and os.path.exists(os.path.join(working_dir, "local_config.py")):
+        config_path = os.path.join(working_dir, "local_config.py")
+    elif not config_path and (
+        not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))
+    ):
+        print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
+        print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info")
         if input() != "n":
             os.makedirs(working_dir, exist_ok=True)
             config_path = os.path.join(working_dir, "local_config.py")
-            shutil.copy(os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"), config_path)
+            shutil.copy(
+                os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"), config_path
+            )
             print_status(f"已创建 local_config.py 路径： {config_path}", "info")
             print_status(f"请在文件夹中配置lab_id，放入下载的CA.crt、lab.crt、lab.key重新启动本程序", "info")
             os._exit(1)
         else:
             os._exit(1)
-    else:
-        working_dir = args_dict.get("working_dir") or os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
-        if working_dir:
-            if config_path and not os.path.exists(config_path):
-                config_path = os.path.join(working_dir, "local_config.py")
-                if not os.path.exists(config_path):
-                    print_status(f"当前工作目录 {working_dir} 未找到local_config.py，请通过 --config 传入 local_config.py 文件路径", "error")
-                    os._exit(1)
-            print_status(f"当前工作目录为 {working_dir}", "info")
     # 加载配置文件
+    print_status(f"当前工作目录为 {working_dir}", "info")
     load_config_from_file(config_path, args_dict["labid"])
 
     # 设置BasicConfig参数
@@ -204,10 +223,11 @@ def main():
             print_status("联网获取设备加载文件成功", "info")
         graph, data = read_node_link_json(request_startup_json)
     else:
-        if args_dict["graph"].endswith(".json"):
+        file_path = args_dict["graph"]
-            graph, data = read_node_link_json(args_dict["graph"])
+        if file_path.endswith(".json"):
+            graph, data = read_node_link_json(file_path)
         else:
-            graph, data = read_graphml(args_dict["graph"])
+            graph, data = read_graphml(file_path)
     import unilabos.resources.graphio as graph_res
 
     graph_res.physical_setup_graph = graph

unilabos/app/web/client.py

@@ -4,11 +4,12 @@ HTTP客户端模块
 提供与远程服务器通信的客户端功能，只有host需要用
 """
 import json
+import os
 from typing import List, Dict, Any, Optional
 
 import requests
 from unilabos.utils.log import info
-from unilabos.config.config import MQConfig, HTTPConfig
+from unilabos.config.config import MQConfig, HTTPConfig, BasicConfig
 from unilabos.utils import logger
 
 
@@ -189,7 +190,7 @@ class HTTPClient:
             logger.error(f"请求启动配置失败: {response.status_code}, {response.text}")
         else:
             try:
-                with open("startup_config.json", "w", encoding="utf-8") as f:
+                with open(os.path.join(BasicConfig.working_dir, "startup_config.json"), "w", encoding="utf-8") as f:
                     f.write(response.text)
                 target_dict = json.loads(response.text)
                 if "data" in target_dict:

unilabos/config/config.py

@@ -163,12 +163,12 @@ def _update_config_from_env():
 def load_config(config_path=None, override_labid=None):
     # 如果提供了配置文件路径，从该文件导入配置
     if config_path:
-        _update_config_from_env()  # 允许config_path被env设定后读取
+        env_config_path = os.environ.get("UNILABOS.BASICCONFIG.CONFIG_PATH")
+        config_path = env_config_path if env_config_path else config_path
         BasicConfig.config_path = os.path.abspath(os.path.dirname(config_path))
         if not os.path.exists(config_path):
             logger.error(f"[ENV] 配置文件 {config_path} 不存在")
             exit(1)
-
         try:
             module_name = "lab_" + os.path.basename(config_path).replace(".py", "")
             spec = importlib.util.spec_from_file_location(module_name, config_path)
@@ -179,6 +179,7 @@ def load_config(config_path=None, override_labid=None):
             spec.loader.exec_module(module)  # type: ignore
             _update_config_from_module(module, override_labid)
             logger.info(f"[ENV] 配置文件 {config_path} 加载成功")
+            _update_config_from_env()
         except Exception as e:
             logger.error(f"[ENV] 加载配置文件 {config_path} 失败")
             traceback.print_exc()

unilabos/config/example_config.py

@@ -8,9 +8,9 @@ class MQConfig:
     broker_url = ""
     port = 1883
 
-    ca_file = "CA.crt"
+    ca_file = "./CA.crt"
-    cert_file = "lab.crt"
+    cert_file = "./lab.crt"
-    key_file = "lab.key"
+    key_file = "./lab.key"
 
 # HTTP配置
 class HTTPConfig:

unilabos/utils/log.py

@@ -144,11 +144,29 @@ class ColoredFormatter(logging.Formatter):
 
 
 # 配置日志处理器
-def configure_logger():
+def configure_logger(loglevel=None):
-    """配置日志记录器"""
+    """配置日志记录器
+
+    Args:
+        loglevel: 日志级别，可以是字符串（'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'）
+                 或logging模块的常量（如logging.DEBUG）
+    """
     # 获取根日志记录器
     root_logger = logging.getLogger()
-    root_logger.setLevel(logging.DEBUG)  # 修改为DEBUG以显示所有级别
+
+    # 设置日志级别
+    if loglevel is not None:
+        if isinstance(loglevel, str):
+            # 将字符串转换为logging级别
+            numeric_level = getattr(logging, loglevel.upper(), None)
+            if not isinstance(numeric_level, int):
+                print(f"警告: 无效的日志级别 '{loglevel}'，使用默认级别 DEBUG")
+                numeric_level = logging.DEBUG
+        else:
+            numeric_level = loglevel
+        root_logger.setLevel(numeric_level)
+    else:
+        root_logger.setLevel(logging.DEBUG)  # 默认级别
 
     # 移除已存在的处理器
     for handler in root_logger.handlers[:]:
@@ -156,7 +174,7 @@ def configure_logger():
 
     # 创建控制台处理器
     console_handler = logging.StreamHandler()
-    console_handler.setLevel(logging.DEBUG)  # 修改为DEBUG以显示所有级别
+    console_handler.setLevel(root_logger.level)  # 使用与根记录器相同的级别
 
     # 使用自定义的颜色格式化器
     color_formatter = ColoredFormatter()

unilabos_msgs/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>unilabos_msgs</name>
-  <version>0.0.5</version>
+  <version>0.10.1</version>
   <description>ROS2 Messages package for unilabos devices</description>
   <maintainer email="changjh@pku.edu.cn">Junhan Chang</maintainer>
   <license>MIT</license>